From 8b7f0ebd9a00c82ec30a6a0a68b7caca69b0f43c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 14 十二月 2020 11:43:07 +0800
Subject: [PATCH] V1.19 修改电机震动不连续BUG
---
Src/main.c | 222 ++++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 162 insertions(+), 60 deletions(-)
diff --git a/Src/main.c b/Src/main.c
index 2f8c0ba..dce6b43 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -28,6 +28,8 @@
#include "deca_device_api.h"
#include "global_param.h"
#include "TrackingDiff.h"
+#include "dw_app.h"
+//#define DEBUG_MODE
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -37,7 +39,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
-#define DEBUG_MODE
+//#define DEBUG_MODE
#define Period (uint32_t) 32768 - 1
#define Timeout (uint32_t) 32768 - 1//(32768 - 1)
/* USER CODE END PD */
@@ -79,27 +81,95 @@
uint32_t dev_id;
uint16_t heartbeat_timer,poll_timer,sync_timer;
uint8_t aRxBuffer[1],group_id;
-
-void IdleTask(void)
+uint8_t bat_percent=0,g_start_send_flag;
+extern u8 motor_state;
+uint16_t tyncpoll_time,lpsettime;
+uint16_t slottime,max_slotpos;
+uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
+extern uint8_t module_power;
+extern float nomove_count;
+uint8_t imu_enable,motor_enable;
+u16 GetLPTime(void)
{
+ u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
+ return count*LPTIMER_LSB/1000;
+}
+void UsartInit(void)
+{
+ waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+ MX_DMA_Init();
+ MX_USART1_UART_Init();
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ {
+ Error_Handler();
+ }
+}
+uint8_t state5v;
+void IdleTask(void)
+{u16 current_time;
UART_CheckReceive();
UART_CheckSend();
-
- if(huart1.Instance->ISR&USART_ISR_ORE)
+
+if(huart1.Instance->ISR&USART_ISR_FE)
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+//if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
+//{
+// LED_TR_ON;
+// LED_TB_OFF;
+//}else{
+// LED_TR_OFF;
+ current_time=GetLPTime();
+ //motor_state=2;
+// if(g_com_map[MOTOR_ONTIME]>0)
+// {
+// g_com_map[MOTOR_ONTIME]--;
+// motor_state = 1;
+// }
+
+ switch(motor_state)
+ {case 0:
+ MOTOR_OFF;
+ break;
+ case 1:
+ if(current_time<WARNING_MOTORONTIME)
+ {
+ MOTOR_ON;
+ }else{
+ MOTOR_OFF;
+ }
+
+ break;
+ case 2:
+ MOTOR_ON;
+ break;
+ case 3:
+ MOTOR_OFF;
+ break;
}
-if(!HAL_GPIO_ReadPin(PWR_ON_GPIO_Port,PWR_ON_Pin))
-{
- LED_TR_ON;
- LED_TB_OFF;
-}else{
- LED_TR_OFF;
if(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
{
- LED_TB_ON;
- }
+ nomove_count = 0;
+ if(state5v==0)
+ {
+ state5v=1;
+ UsartInit();
+ }
+ if(bat_percent>99)
+ {
+ LED_LR_OFF;
+ LED_LG_ON;
+ }else{
+ LED_LR_ON;
+ LED_LG_OFF;
+ }
+ }else{
+ state5v=0;
+ LED_LR_OFF;
+ LED_LG_OFF;
+// }
}
if(g_com_map[CNT_UPDATE]==1)
{
@@ -133,27 +203,21 @@
delay_ms(100);
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA||g_com_map[COM_INTERVAL]==0)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
}
-uint16_t tyncpoll_time,lpsettime;
-uint16_t slottime,max_slotpos;
-uint16_t lastpoll_count,interval_count,slot_startcount,tag_frequency,lastpoll_time,current_time;
-extern uint8_t module_power;
-uint8_t imu_enable,motor_enable;
-u16 GetLPTime(void)
-{
- u16 count=HAL_LPTIM_ReadCounter(&hlptim1);
- return count*LPTIMER_LSB/1000;
-}
+
u16 total_slotnum,current_slotnum;
extern int32_t offsettimeus;
void SetNextPollTime(u16 time)
{
int32_t lpcount,lptime,target_time;
-
- time=0;
+
if(current_slotnum>=total_slotnum)
current_slotnum-=total_slotnum;
@@ -178,7 +242,7 @@
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
- g_com_map[VERSION] = 0x0109;
+ g_com_map[VERSION] = 0x0113;
#ifdef DEBUG_MODE
// g_com_map[DEV_ROLE]=1;
// g_com_map[DEV_ID]=1;
@@ -186,15 +250,21 @@
// g_com_map[MAX_REPORT_ANC_NUM]=1;
g_com_map[NOMOVESLEEP_TIME]=10;
#endif
-
-
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
+ if(module_power>67)
+ {module_power=67;}
+ if(module_power<0)
+ {module_power=0;}
module_power = g_com_map[POWER];
imu_enable=g_com_map[IMU_ENABLE];
motor_enable=g_com_map[MOTOR_ENABLE];
group_id=g_com_map[GROUP_ID];
dev_id = g_com_map[DEV_ID];
- slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/4)+4;
+ slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
slot_startcount=tyncpoll_time*1000/LPTIMER_LSB;
@@ -207,7 +277,7 @@
{
Error_Handler();
}
-
+//g_com_map[NOMOVESLEEP_TIME]=5;
printf("标签ID: %d .\r\n",dev_id);
printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
@@ -230,7 +300,6 @@
uint32_t temp;
extern uint8_t sleep_flag,m_bEUARTTxEn;
uint16_t waitusart_timer;
-uint8_t bat_percent=0,g_start_send_flag;
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle)
//{
// /* Set transmission flag: trasfer complete*/
@@ -261,7 +330,7 @@
HAL_Init();
/* USER CODE BEGIN Init */
-
+//每次生成CUBE后需要注意，串口初始化要在DMA初始化后面，手动调整顺序**************
/* USER CODE END Init */
/* Configure the system clock */
@@ -274,20 +343,25 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_LPTIM1_Init();
- // MX_USART1_UART_Init();
+ MX_DMA_Init();
+ MX_USART1_UART_Init();
MX_SPI1_Init();
MX_ADC_Init();
- MX_DMA_Init();
/* USER CODE BEGIN 2 */
+ LED_LG_ON;
Program_Init();
LIS3DH_Data_Init();
Dw1000_Init();
Dw1000_App_Init();
dwt_configuresleep(DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_CS | DWT_WAKE_WK| DWT_SLP_EN);
- dwt_entersleep();
- waitusart_timer=1;
+ //dwt_entersleep();
+ waitusart_timer=tag_frequency*USART_KEEPWAKE_TIME;;
DW_DISABLE;
+ if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
+ {
+ Error_Handler();
+ }
// HAL_Delay(2000);
// mcu_sleep();
//LED0_BLINK;
@@ -313,17 +387,17 @@
// }else{
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
// }
- LED_TR_BLINK;
+// LED_TR_BLINK;
bat_percent=Get_Battary();
if(bat_percent>15)
- {// LED0_ON;
+ { LED_TB_ON;
Tag_App();
- // LED0_OFF;
+ LED_TB_OFF;
}else{
- //LED_LR_ON;
+ LED_TR_ON;
Tag_App();
- // LED_LR_OFF;
+ LED_TR_OFF;
}
//LED0_BLINK;
IdleTask();
@@ -331,9 +405,12 @@
{
waitusart_timer--;
}
- if(m_bEUARTTxEn==0&&waitusart_timer==0)
+ if(m_bEUARTTxEn==0&&waitusart_timer==0&&(motor_state==0||motor_state==3))
{
- // HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+#ifndef DEBUG_MODE
+if(!HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin))
+ HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
+#endif
}
@@ -539,7 +616,7 @@
{
/* USER CODE BEGIN USART1_Init 0 */
-
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
@@ -554,21 +631,24 @@
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
- huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+ huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT|UART_ADVFEATURE_DMADISABLEONERROR_INIT;
+ huart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
+ huart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
-
+ GPIO_InitStruct.Pin = GPIO_PIN_10;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// if(HAL_UART_Receive_IT(&huart1, (uint8_t *)aRxBuffer, 1) != HAL_OK)
// {
// Error_Handler();
// }
- if(HAL_UART_Receive_DMA(&huart1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE))
- {
- Error_Handler();
- }
Usart1InitVariables();
/* USER CODE END USART1_Init 2 */
@@ -606,16 +686,16 @@
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, DW_CTRL_Pin|SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOA, SCL_Pin|SDA_Pin|SPI_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, MOTOR_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|MOTOR_Pin|PWR_CTL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOB, BAT_MEAS_GND_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOB, LED1_G_Pin|LED1_R_Pin|LED2_R_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|LED2_G_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOA, DW_WKUP_Pin|DW_CTRL_Pin|LED2_G_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PA0 */
GPIO_InitStruct.Pin = GPIO_PIN_0;
@@ -637,7 +717,7 @@
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : SPI_CS_Pin */
- GPIO_InitStruct.Pin = SPI_CS_Pin|GPIO_PIN_9;
+ GPIO_InitStruct.Pin = SPI_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
@@ -656,8 +736,10 @@
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
- /*Configure GPIO pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin */
- GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin;
+ /*Configure GPIO pins : MOTOR_Pin LED1_G_Pin LED1_R_Pin LED2_R_Pin
+ PWR_CTL_Pin */
+ GPIO_InitStruct.Pin = MOTOR_Pin|LED1_G_Pin|LED1_R_Pin|LED2_R_Pin
+ |PWR_CTL_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -713,8 +795,8 @@
/*Enter the Standby mode*/
HAL_PWR_EnterSTANDBYMode();
}
-extern float nomove_count;
-
+extern uint8_t tx_near_msg[80],stationary_flag;
+float key_keeptime;
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
{
static uint8_t i=0;
@@ -723,9 +805,29 @@
current_slotnum++;
SetNextPollTime(tyncpoll_time);
nomove_count+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(!GET_USERKEY)
+ {
+ key_keeptime+=(float)g_com_map[COM_INTERVAL]/1000;
+ if(key_keeptime>=KEY_KEEPRESET_TIME)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
+ }
+ }else{
+ key_keeptime=0;
+ }
+ if(nomove_count>STATIONARY_TIME)
+ {
+ stationary_flag = 1;
+ }else{
+ stationary_flag = 0;
+ }
+if(nomove_count>=g_com_map[NOMOVESLEEP_TIME]-1&&imu_enable)
+ {
+ tx_near_msg[TAGSTATE] = tx_near_msg[TAGSTATE]|GOINGSLEEPBIT;
+ }
if(nomove_count>g_com_map[NOMOVESLEEP_TIME]&&imu_enable)
{
- // mcu_sleep();
+ mcu_sleep();
}
}
/* USER CODE END 4 */
--
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